弦振動を利用したワイヤ駆動手術鉗子の力センシング

―ワイヤ加振の耐久性の評価―

抄録

We have proposed force sensing by using string vibration for forceps of a cable-driven surgical robot. This method measures the frequency of the audio signals that occur when the drive cable is vibrated and then calculates the tension of the cable. When vibrating the cable with a pin, wear occurs between the cable and the pin. We evaluated its durability by vibrating one million times, which is the expected maximum number of times during one operation, and obtained satisfactory results. The wear of the pin is small enough and only minor scratches were observed on the surface of the nylon-coated cable.